A2 Control Loop (PI/PID) Development (Mechanical - 2025)

Owned by Yu-Ming He
Nov 21, 2024
1 min read

Due Date: Aug 16, 2022

Contributor Log

Name

Contribution

Name

Contribution

 

 

 

 

Skills

  • Controll Loop Development

Task Description

Tune the control loop for A2 motor on the dyno test rig set up. Start by tuning based on Prof Navdeep’s suggestions, starting with setting a K_p value to reach steady state, then adding a K_I value to reduce the errors. Once that is complete, test the system and record current/torque values before trying to add a K_D value for speed ramping.

Task Breakdown

Set up dyno testing jig with odrive controller
Apply varying torque on motor (needs to be defined)
Tune K_P value
Tune K_I value
Once motor control loop looks good, will test with full actuator set up

Prerequisites

Refer to graphs on A2 New Motor Testing to help as reference.

  • Relevant task 1

  • Relevant task 2, etc.

Progress Journal

  • Aug 16, 2024 @Saheed Quadri (date and name)

    • brief update on whats done and what are the next steps, photos and images and videos are preferred

  • Etc.

Relevant Documentation Links